CN116137943A

CN116137943A - Control device for rotating electric machine and electric power steering device

Info

Publication number: CN116137943A
Application number: CN202080103976.5A
Authority: CN
Inventors: 森辰也; 池田纮子; 久保建太
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2020-08-28
Filing date: 2020-10-05
Publication date: 2023-05-19
Also published as: WO2022044347A1; EP4207580A4; US20230249742A1; JP2022039161A; EP4207580A1; JP6818929B1

Abstract

Provided are a control device for a rotating electrical machine and an electric power steering device, which can reduce the error of an alternating current component contained in a sensor detection value of a rotation angle at a high rotation speed, and can suppress the increase of the rotation angle error caused by a high-frequency noise component contained in the current detection value. The control method includes estimating a deviation of a rotation angle (thetac) for control from a true rotation angle, i.e., an estimated actual angle deviation (delta thetac), calculating a detection angle deviation (delta thetad) which is a deviation of the rotation angle (thetac) for control from a detection value (thetad) of the rotation angle, dividing the estimated actual angle deviation (delta thetac) and the detection angle deviation (delta thetad), calculating a control angle deviation (delta thetac), and performing feedback control so that the control angle deviation (delta thetac) is close to 0, thereby calculating the rotation angle (thetac) for control, and setting a proportion (Ke) of the estimated actual angle deviation to be higher than a proportion (Kd) of the detection angle deviation when the rotation speed is higher than a speed threshold.

Description

Control device for rotating electric machine and electric power steering device

Technical Field

The present invention relates to a control device for a rotating electrical machine and an electric power steering device.

Background

In order to control a rotating electrical machine in which a magnet is provided on a rotor, it is necessary to detect the rotation angle of the rotor. The rotation angle detected by the rotation sensor is in error with the actual rotation angle. The dc component of the sensor angle error is an error of the dc component of the torque, and the ac component of the sensor angle error is an error of the ac component of the torque (torque ripple error). Torque ripple errors are a factor of noise from the rotating electrical machine. Therefore, in order to rotate the rotary electric machine in a mute state, it is important to reduce the alternating current component of the angle error.

The technique of patent document 1 estimates an axis error Δθdc by an axis error calculator 605, calculates a correction amount Δω1c for controlling the axis error Δθdc to 0 by an electrical angular velocity correction calculator 603, adds the correction amount Δω1c to an electrical angular velocity ω1sc detected by a normal rotational position sensor, calculates a corrected electrical angular velocity ω1c, and calculates a rotor phase θdc based on the electrical angular velocity ω1c.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2019-050684

Disclosure of Invention

Technical problem to be solved by the invention

However, in the technique of patent document 1, since the correction amount Δω1c for making the estimated axis error Δθdc 0 is added to the electrical angular velocity ω1sc detected by the normal rotational position sensor, when the electrical angular velocity ω1sc contains an error of the ac component, the axis error Δθdc and the correction amount Δω1c need to respond at the frequency of the ac component in order to compensate for the error of the ac component. The frequency of the ac component is proportional to the rotational frequency, and therefore, as the rotational speed increases, the frequency of the ac component increases. In order to make the correction amount Δω1c respond at the rotation frequency at a high rotation speed, it is necessary to increase the response frequency of the feedback control that calculates the correction amount Δω1c to the maximum rotation frequency. If the response frequency of the feedback control is increased, a problem arises in that a noise component is superimposed on the correction amount Δω1c in response to a high-frequency noise component contained in the current detection value for calculating the axis error Δθdc. That is, in the technique of patent document 1, at a high rotation speed, it is difficult to detect the rotation angle with high accuracy because the reduction of the error of the ac component included in the sensor detection value of the rotation angle and the increase of the error caused by the noise component included in the current detection value are in a trade-off relationship.

Accordingly, an object of the present application is to provide a control device for a rotating electrical machine and an electric power steering apparatus that can reduce an error of an alternating current component included in a sensor detection value of a rotation angle at a high rotation speed, while suppressing an increase in the rotation angle error caused by a high-frequency noise component included in a current detection value.

Technical means for solving the technical problems

A control device for a rotating electrical machine according to the present application controls a rotating electrical machine having a stator provided with a multiphase winding and a rotor provided with a magnet via a power converter, the control device comprising:

a rotation detection unit that detects a rotation angle of the rotor based on an output signal of a rotation sensor;

a control angle calculation unit that calculates a control rotation angle of the rotor;

a current detection unit that detects a current flowing through the multiphase winding based on an output signal of a current sensor;

a voltage command value calculation unit that calculates a voltage command value to be applied to the multiphase winding based on the rotation angle for control and the current detection value; and

A switch control unit that turns on and off a plurality of switching elements included in the power converter based on the voltage command value,

in the above-described control angle calculating section,

estimating an estimated actual angular deviation, which is a deviation of the rotational angle for control with respect to the actual rotational angle of the rotor, based on the information of the current detection value and the information of the voltage command value,

calculating a detected angle deviation, which is a deviation of the rotation angle for control with respect to a detected value of the rotation angle,

calculating a value obtained by dividing the estimated actual angle deviation and the detected angle deviation as a control angle deviation,

by performing feedback control so that the control angle deviation approaches 0, the rotation angle for control is calculated,

when a speed proportional physical quantity, which is a physical quantity proportional to the rotational angular speed of the rotor, is higher than a preset speed threshold value, the proportion of the estimated actual angular deviation among the control angular deviations is set higher than the proportion of the detected angular deviation,

when the speed proportional physical quantity is lower than the speed threshold value, the proportion of the estimated actual angle deviation among the control angle deviations is set lower than the proportion of the detected angle deviation.

An electric power steering apparatus according to the present application includes:

the control device of the rotating electrical machine;

the power converter;

the rotating electrical machine; and

a driving force transmission mechanism that transmits the driving force of the rotating electrical machine to a steering device of a vehicle,

the response frequency from the control angle deviation to the rotation angle for control is set to 90Hz or more.

Effects of the invention

According to the control device for the rotating electrical machine and the electric power steering device according to the present application, since the control rotation angle is calculated by performing feedback control so that the control angle deviation obtained by dividing the estimated actual angle deviation and the detected angle deviation is close to 0, there is no need to increase the response frequency of the feedback control at a high rotation speed to reduce the error of the ac component included in the sensor detection value of the rotation angle by correcting the sensor detection value of the rotation angular velocity with the feedback control value as in patent document 1. Therefore, the response frequency of the feedback control can be set to a vibration frequency that can respond to a relatively low-frequency mechanical rotation angle, and to a frequency of a noise component that does not respond to a relatively high-frequency current detection value. Further, at a high rotation speed, since the ratio of the actual angle deviation is estimated to be higher than the ratio of the detected angle deviation, and the rotation angle for control is calculated by feedback control in which the control angle deviation is made to approach 0, it is possible to suppress the error of the ac component included in the sensor detection value of the rotation angle from being reflected in the rotation angle for control, and to make the rotation angle for control approach the true rotation angle. Therefore, at a high rotation speed, the error of the ac component included in the sensor detection value of the rotation angle can be reduced, while the increase of the error of the rotation angle due to the high-frequency noise component included in the current detection value is suppressed. In addition, even when the ratio of the detected angle deviation is higher than the ratio of the estimated actual angle deviation at a low rotation speed, the control rotation angle is calculated by feedback control in which the control angle deviation is made to approach 0, so that it is possible to suppress a case where an error of the ac component included in the sensor detection value of the rotation angle is reflected in the control rotation angle.

Drawings

Fig. 1 is a schematic configuration diagram of a rotating electrical machine, a power converter, and a control device according to embodiment 1.

Fig. 2 is a schematic block diagram of the control device according to embodiment 1.

Fig. 3 is a hardware configuration diagram of the control device according to embodiment 1.

Fig. 4 is a diagram illustrating control regions according to embodiment 1.

Fig. 5 is a diagram illustrating control regions according to embodiment 1.

Fig. 6 is a block diagram of the control angle calculating unit according to embodiment 1.

Fig. 7 is a diagram illustrating setting of the internal division ratio according to embodiment 1.

Fig. 8 is a baud diagram illustrating response frequencies in embodiment 1.

Fig. 9 is a block diagram of a control angle calculation unit according to embodiment 2.

Detailed Description

1. Embodiment 1

A control device 10 for a rotating electrical machine according to embodiment 1 (hereinafter simply referred to as a control device 10) will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of a rotary electric machine 1, a power converter 4, and a control device 10 according to the present embodiment. In the present embodiment, the rotating electric machine 1 serves as a driving force source for the electric power steering apparatus 100, and the rotating electric machine 1, the power converter 4, and the control apparatus 10 constitute the electric power steering apparatus 100.

1-1 rotating electrical machine 1

The rotary electric machine 1 includes a stator and a rotor disposed radially inward of the stator. The stator is provided with multiphase windings (three-phase windings Cu, cv, cw of U-phase, V-phase, W-phase in this example). A magnet is disposed in the rotor. In the present embodiment, the magnet is a permanent magnet, and the rotary electric machine 1 is a synchronous rotary electric machine of a permanent magnet type. In addition, the magnet may be an electromagnet having an excitation winding. The three-phase windings may be star-connected or delta-connected.

The rotor comprises a rotation sensor 2 for detecting the rotation angle of the rotor. The rotation sensor 2 uses a resolver, an encoder, an MR sensor, or the like. The output signal of the rotation sensor 2 is input to the control device 10.

1-2 Power converter 4

An inverter is used as the power converter 4. As the power converter 4, a power converter other than an inverter, for example, a matrix converter may be used.

The inverter 4 is provided with 3 series circuits (branches) corresponding to three phases, each of which is connected in series with a switching element SP on the positive side connected to the positive side of the dc power supply 3 and a switching element SN on the negative side connected to the negative side of the dc power supply 3. Then, the connection points of the 2 switching elements in the series circuit of each phase are connected to the windings of the corresponding phase.

Specifically, in the U-phase series circuit, a switching element SPu on the positive side of the U-phase and a switching element SNu on the negative side of the U-phase are connected in series, and the connection point of 2 switching elements is connected to the U-phase winding Cu. In the V-phase series circuit, a V-phase positive-side switching element SPv and a V-phase negative-side switching element SNv are connected in series, and the connection point of the 2 switching elements is connected to the V-phase winding Cv. In the W-phase series circuit, a switching element SPw on the positive side of W and a switching element SNw on the negative side of W are connected in series, and the connection point of 2 switching elements is connected to the W-phase winding Cw. The smoothing capacitor 5 is connected between the positive electrode side and the negative electrode side of the dc power supply 3.

For the switching element, an IGBT (Insulated Gate Bipolar Transistor: insulated gate bipolar transistor) in which a diode is connected in anti-parallel, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor: metal oxide semiconductor field effect transistor), a bipolar transistor in which a diode is connected in anti-parallel, or the like is used. The gate terminals of the switching elements are connected to the control device 10 via a gate drive circuit or the like. Each of the switching elements is turned on or off by a switching signal GPu to GNw output from the control device 10.

The dc power supply 3 outputs a dc voltage Vdc to the inverter 4. In the present embodiment, the dc voltage Vdc is set to 12V. The DC power supply 3 may be any device as long as it is a device that outputs a DC voltage Vdc, such as a battery, a DC-DC converter, a diode rectifier, and a PWM rectifier. The dc power supply 3 is provided with a voltage sensor that detects the dc voltage Vdc, and an output signal of the voltage sensor may be input to the control device 10. The control device 10 may use the detected dc voltage Vdc for control.

A current sensor 6 for detecting the current flowing through each phase winding is provided. The current sensor 6 is a current sensor such as a shunt resistor or a hall element. The output signal of the current sensor 6 is input to the control device 10.

In the present embodiment, the current sensor 6 is also provided in a series circuit of two switching elements of each phase. The U-phase resistor Ru, the V-phase resistor Rv, and the W-phase resistor Rw are connected in series to the negative side of the switching element SN on the negative side of each phase. The three-phase resistors Ru, rv, and Rw detect the potential difference between the two ends of the resistors of each phase by the

amplifiers

21, 22, and 23, and the potential difference between the two ends is input to the control device 10.

The current sensor 6 may be provided on a wire connecting the series circuit of two switching elements of each phase and each phase coil. Alternatively, the current sensor may be provided on a wire connecting the inverter 4 and the dc power supply 3, and the current of each phase winding may be detected by a well-known "bus 1 split system".

1-3. Electric Power steering apparatus 100

The electric power steering apparatus 100 includes a control device 10 for a rotating electrical machine, an inverter 4, the rotating electrical machine 1, and a driving force transmission mechanism 101 that transmits driving force of the rotating electrical machine 1 to a steering device 102 of a vehicle.

The rotation shaft of the rotor of the rotary electric machine 1 is coupled to the steering device 102 of the wheel 103 via the driving force transmission mechanism 101. For example, the electric power steering apparatus 100 includes a steering wheel 104 that rotates left and right by a driver, a shaft 105 of a steering apparatus 102 that is coupled to the steering wheel 104 and transmits steering torque of the steering wheel 104 to wheels 103, a torque sensor 106 that is attached to the shaft 105 and detects steering torque Ts of the steering wheel 104, and a driving force transmission mechanism 101 such as a worm wheel mechanism that couples a rotation shaft of the rotating electric machine 1 to the shaft 105. The output signal of the torque sensor 106 is input to the control device 10 (input circuit 92).

1-4 control device 10

The control device 10 controls the rotating electrical machine 1 via the inverter 4. As shown in fig. 2, the control device 10 includes a rotation detection unit 31, a control angle calculation unit 32, a current detection unit 33, a voltage command value calculation unit 34, a switch control unit 35, and the like. Each function of the control device 10 is realized by a processing circuit provided in the control device 10. Specifically, as shown in fig. 3, the control device 10 includes, as a processing circuit: an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit: central processing unit); a storage device 91 for exchanging data with the arithmetic processing device 90; an input circuit 92 for inputting an external signal to the arithmetic processing unit 90; and an output circuit 93 for outputting a signal from the arithmetic processing unit 90 to the outside.

The arithmetic processing device 90 may include an ASIC (Appl ication Specific Integrated Circuit: application specific integrated circuit), an IC (Integrated Circuit: integrated circuit), a DSP (Digital Signal Processor: digital signal processor), an FPGA (Field Programmable Gate Array: field programmable gate array), various logic circuits, various signal processing circuits, and the like. The arithmetic processing device 90 may be provided with a plurality of arithmetic processing devices of the same type or different types, and may share and execute the respective processes. The storage device 91 may include a RAM (Random Access Memory: random access Memory) configured to be able to Read and write data from the arithmetic processing device 90, a ROM (Read Only Memory) configured to be able to Read data from the arithmetic processing device 90, and the like. The input circuit 92 is connected to various sensors and switches such as the rotation sensor 2, the current sensor 6, and the torque sensor 106, and includes an a/D converter or the like for inputting output signals of the sensors and switches to the arithmetic processing device 90. The output circuit 93 is connected to an electric load such as a gate drive circuit for driving the switching element on and off, and includes a drive circuit for outputting a control signal from the arithmetic processing unit 90 to the electric load.

The functions of the control units 31 to 35 and the like included in the control device 10 are realized by the arithmetic processing device 90 executing software (program) stored in the storage device 91 such as a ROM, and cooperating with other hardware of the control device 10 such as the storage device 91, the input circuit 92, and the output circuit 93. Setting data such as the internal division ratio (internal division ratio) and the control gain used by the respective control units 31 to 35 are stored as part of software (program) in a storage device 91 such as a ROM. The respective functions of the control device 10 will be described in detail below.

1-4-1 basic control

The rotation detecting unit 31 detects the rotation angle θd of the rotor based on the output signal of the rotation sensor 2. As a detection value θd of the rotation angle of the rotor, the rotation angle (magnetic pole position) of the magnetic pole (N pole) of the magnet at the electrical angle with respect to the winding position of the U phase is detected.

The current detection unit 33 detects the current Iud, ivd, iwd flowing through the three-phase winding based on the output signal of the current sensor 6. The current detection unit 33 detects the current Iud flowing through the U-phase winding, the current Ivd flowing through the V-phase winding, and the current Iwd flowing through the W-phase winding based on the output signal of the current sensor 6. The current sensor 6 is configured to detect two-phase winding currents, and the remaining 1-phase winding current may be calculated based on the detected values of the two-phase winding currents. For example, the current sensor 6 detects winding currents Ivd and Iwd of the V-phase and W-phase, and winding current Iud of the U-phase can be calculated by iud= -Ivd-Iwd.

The voltage command value calculation unit 34 calculates a voltage command value Vuo, vvo, vwo applied to three phases of the three-phase winding based on the rotation angle θc for control and the current detection value calculated by the control angle calculation unit 32 described later.

In the present embodiment, the voltage command value calculation unit 34 includes a current command value calculation unit 341, a current coordinate conversion unit 342, a dq-axis voltage command value calculation unit 343, and a voltage coordinate conversion unit 344.

The current coordinate conversion unit 342 converts the current detection value Iud, ivd, iwd of the three-phase winding into the current detection values Idd and Iqd of the d-axis and q-axis based on the rotation angle θc for control. In the present embodiment, the current coordinate conversion unit 342 converts the current detection values Iud, ivd, iwd of the three-phase winding into the current detection values Idd and Iqd of the d-axis and q-axis by performing three-phase two-phase conversion and rotational coordinate conversion based on the rotation angle θc for control as shown in the following expression.

[ mathematics 1]

The d-axis is determined as the direction of the magnetic pole (N-pole) of the magnet, and the q-axis is determined as the direction advanced by 90 degrees from the d-axis in the electrical angle. In this example, since the coordinate transformation is performed based on the rotation angle θc for control, the direction of the rotation angle θc for control is the d-axis.

The current command value calculation unit 341 calculates current command values Ido, iqo of the d-axis and q-axis. The voltage command value calculation unit 341 detects the steering torque Ts of the driver based on the output signal of the torque sensor 106. The current command value calculation unit 341 sets the q-axis current command value Iqo based on the steering torque Ts, and sets the d-axis current command value ido to 0, as shown in the following equation. That is, id=0 control is performed. In id=0 control, the current command value Ido of the d-axis is set to 0. Id=0 controls a rotating electrical machine suitable for the surface magnet type.

Iqo＝Ka×Ts

Ido＝0···(2)

Here, ka is a constant, but may be changed according to the steering torque Ts, the running speed of the vehicle, and the like. Further, the q-axis current command value Iqo may be set based on a well-known compensation control corresponding to the steering condition. In the case of a magnet-embedded rotating electrical machine, the d-axis and q-axis current command values Ido and Iqo may be set by maximum torque current control instead of id=0 control. In the maximum torque current control, current command values Ido, iqo for the d-axis and q-axis that maximize the generated torque for the same current are calculated.

In a region where the rotational angular velocity is high, the low magnetic flux control is performed in which the d-axis current command value Ido is increased in the negative direction compared to the d-axis current command value calculated by id=0 control or maximum torque current control. For example, the execution region of the flux-weakening control is set to a region where the rotation angular velocity ω is equal to or higher than the base velocity at which the amplitude of the line-to-line voltage outputted from the inverter reaches the dc voltage Vdc.

Fig. 4 shows execution regions of respective controls when id=0 control and flux weakening control are performed in the surface magnet type rotating electrical machine. Fig. 5 shows execution regions of respective controls when maximum torque current control and flux weakening control are performed in the buried magnet type rotating electrical machine.

As shown in the following expression, the dq-axis voltage command value calculation unit 343 performs current feedback control such that the d-axis voltage command value Vdo and the q-axis voltage command value Vqo are changed by PI control or the like so that the d-axis current detection value Idd approaches the d-axis current command value Ido and the q-axis current detection value Iqd approaches the q-axis current command value Iqo.

[ math figure 2]

Here, kd and Kq are proportional gains, td and Tq are integration time constants, and s is a laplace operator.

In addition, feedforward control may be performed so that the d-axis current and the q-axis current do not interfere with each other. That is, "—ωc×lq×iqc" may be added to the d-axis voltage command value Vdo, and "ωc× (ld×idc+ψ)" may be added to the q-axis voltage command value Vqo. Here, ωc is a rotational angular velocity for control described later, and a detected value ωd of the rotational angular velocity described later may be used instead of ωc. Lq is the q-axis inductance, ld is the d-axis inductance, and ψ is the linkage flux of the magnetomotive force of the magnet and the winding linkage.

The voltage coordinate conversion section 344 converts the d-axis and q-axis voltage command values Vdo and Vqo into three-phase voltage command values Vuo, vvo and Vwo based on the rotation angle θc for control. In the present embodiment, the voltage coordinate conversion unit 344 performs fixed coordinate conversion and two-phase/three-phase conversion on the d-axis and q-axis voltage command values Vdo and Vqo based on the rotation angle θc for control, as shown in the following equation, and converts the voltage command values into three-phase voltage command values Vuo, vvo, vwo.

[ math 3]

The voltage coordinate conversion unit 344 may apply a known modulation such as two-phase modulation or third harmonic superposition to the three-phase voltage command value Vuo, vvo, vwo.

The switch control unit 35 turns on and off the plurality of switching elements included in the inverter 4 based on the three-phase voltage command values Vuo, vvo, vwo. The switching control section 35 compares PWM or space vector PWM using a well-known carrier wave.

When carrier comparison PWM is used, the switch control unit 35 compares the carrier with each of the three-phase voltage command values Vuo, vvo, vwo, and turns on/off the plurality of switching elements based on the comparison result. The carrier wave is a triangular wave, and vibrates at an amplitude of half the dc voltage Vdc/2 with 0 as a center in the PWM period Tc. For each phase, the switching control unit 35 turns on the switching signal GP of the switching element on the positive electrode side when the carrier wave is lower than the voltage command value, turns on the switching element on the positive electrode side, and turns off the switching signal GP of the switching element on the positive electrode side when the carrier wave CA exceeds the voltage command value. On the other hand, for each phase, the switching control unit 35 turns off the switching signal GN of the switching element on the negative electrode side, turns off the switching element on the negative electrode side, and turns on the switching signal GN of the switching element on the negative electrode side, when the carrier CA exceeds the voltage command value, and turns on the switching element on the negative electrode side, when the carrier CA exceeds the voltage command value. Further, for each phase, a short-circuit prevention period (dead time) for turning off both the switching elements on the positive side and the switching elements on the negative side may be provided between the on period of the switching element on the positive side and the on period of the switching element on the negative side.

In the case of space vector PWM, the switching control unit 35 generates a voltage command vector from the voltage command values Vuo, vvo, vwo of three phases, determines output time distributions of seven basic voltage vectors in the PWM period based on the voltage command vector, and generates switching signals for turning on and off each switching element in the PWM period based on the output time distributions of the seven basic voltage vectors.

1-4-2. Control Angle calculation section 32

The control angle calculating unit 32 calculates a rotation angle θc for controlling the rotor. The control angle calculation unit 32 estimates an estimated actual angle deviation Δθe, which is a deviation of the control rotation angle θc from the actual rotation angle of the rotor, based on the information of the current detection value and the information of the voltage command value. The control angle calculation unit 32 calculates a detection angle deviation Δθd, which is a deviation of the rotation angle θc for control from the detection value θd of the rotation angle. Then, the control angle calculating unit 32 calculates, as the control angle deviation Δθc, a value obtained by dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd. Then, the control angle calculating unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby calculating the control rotation angle θc.

The control angle calculation unit 32 sets the ratio Ke of the estimated actual angular deviation Δθe out of the control angular deviations Δθc to be higher than the ratio Kd of the detected angular deviation when the speed proportional physical quantity, which is a physical quantity proportional to the rotational angular speed of the rotor, is higher than the speed threshold Th, and sets the ratio Ke of the estimated actual angular deviation Δθe out of the control angular deviations Δθc to be lower than the ratio Kd of the detected angular deviation when the speed proportional physical quantity is lower than the speed threshold Th.

According to this configuration, since the control rotation angle θc is calculated by performing feedback control so that the control angle deviation Δθc obtained by dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd is close to 0, there is no need to increase the response frequency of the feedback control at a high rotation speed to reduce the error of the ac component included in the sensor detection value of the rotation angle by correcting the sensor detection value of the rotation angular velocity with the feedback control value as in patent document 1. Therefore, the response frequency of the feedback control can be set to a vibration frequency that can respond to a relatively low-frequency mechanical rotation angle, and to a frequency of a noise component that does not respond to a relatively high-frequency current detection value. Further, at a high rotation speed, since the proportion Ke of the actual angle deviation Δθe is estimated to be higher than the proportion Kd of the detected angle deviation Δθd, and the control rotation angle θc is calculated by feedback control in which the control angle deviation Δθc is made to approach 0, it is possible to suppress an error in the ac component included in the detected value θd of the rotation angle reflected in the control rotation angle θc, and to make the control rotation angle θc approach the actual rotation angle. Therefore, at a high rotation speed, the error of the ac component included in the detection value θd of the rotation angle can be reduced, while the increase of the error of the rotation angle caused by the high-frequency noise component included in the current detection value is suppressed. In addition, even when the ratio Kd of the detected angle deviation Δθd is higher than the ratio Ke of the estimated actual angle deviation Δθe at a low rotation speed, the control rotation angle θc is calculated by feedback control in which the control angle deviation Δθc is close to 0, so that it is possible to suppress an error in the ac component included in the detected value θd of the rotation angle reflected in the control rotation angle θc.

< calculation of detection angle deviation Δθd >

Fig. 6 shows a block diagram of the control angle calculation unit 32 according to the present embodiment. The control angle calculating unit 32 calculates the detected angle deviation Δθd by subtracting the control rotation angle θc from the detected rotation angle θd, as shown in the following equation.

Δθd＝θd-θc···(5)

< calculation of the estimated actual angular deviation Δθe >

As described above, the control angle calculating unit 32 estimates the estimated actual angle deviation Δθe, which is a deviation of the control rotation angle θc from the actual rotation angle of the rotor, based on the information of the current detection value and the information of the voltage command value. In the present embodiment, the control angle calculating unit 32 estimates the estimated actual angle deviation Δθe, which is a deviation of the control rotation angle θc from the actual rotation angle of the rotor, based on the d-axis and q-axis current detection values Idd, iqd, d and q-axis voltage command values Vdo and Vqo and the control rotation angular velocity ωc.

The control angle calculation unit 32 calculates the estimated actual angle deviation Δθe using the following equation.

ΔVd＝-Vdo+R×Idd-ωc×Lq×Iqd

ΔVq＝Vqo-R×Iqd-ωc×Ld×Idd

Δθe＝arctan(ΔVd/ΔVq)···(6)

Where R is a preset resistance value of the winding, lq is a preset q-axis inductance, and Ld is a preset d-axis inductance. In consideration of the magnetic saturation of the permanent magnet, ld, lq may be set using map data of d-axis current and q-axis current. Equation (6) is a formula derived based on a voltage equation, Δvd is an error of the d-axis voltage caused by the control rotation angle θc being out of the actual rotation angle (here, the rotation angle at which the voltage equation is established), and Δvq is an error of the q-axis voltage caused by the control rotation angle θc being out of the actual rotation angle. Then, by calculating the value of the arctangent function of Δvd/Δvq, a presumed actual angle deviation Δθe, which is a deviation of the rotation angle θc for control from the actual rotation angle, is calculated.

In addition, a detection value ωd of the rotational angular velocity calculated by differentiating the detection value θd of the rotational angle may be used instead of the rotational angular velocity ωc for control. Instead of the d-axis and q-axis voltage command values Vdo and Vqo, the d-axis and q-axis voltage detection values Vdd and Vqd obtained by detecting the U-phase applied voltage vu_pwm, the V-phase applied voltage vv_pwm, and the W-phase applied voltage vw_pwm applied to the three-phase winding, and performing three-phase two-phase conversion and rotation coordinate conversion on the three-phase voltage detection values vu_pwm, vv_pwm, and vw_pwm based on the rotation angle θc for control may be used.

When the absolute value of the detected value ωd of the rotational angular velocity is smaller than the threshold value, the control angle calculation unit 32 may stop using the estimated actual angle deviation Δθe of expression (6), and set to Δθe=0. This is to prevent the error Δvq of the q-axis voltage from approaching 0 and the Δvd/Δvq from being excessively large and the calculation error of Δθe from being excessively large when the rotation angular velocity is low.

< calculation of detection value ωd of rotational angular velocity >

The control angle calculating unit 32 calculates the detection value ωd of the rotational angular velocity using the following equation.

ωd(n)＝{θd(n)-θd(n-1)}/ΔT ···(7)

Here, θd (n-1) is the rotation angle detected at the previous operation timing, and θd (n) is the rotation angle detected at the present operation timing. Δt is the operation period. As the detection value ωd of the rotational angular velocity, a value obtained by performing low-pass filtering processing on the calculated value of the equation (7) may be used.

< calculation of internal-division-based control Angle deviation Δθc >

The control angle calculating unit 32 calculates, as the control angle deviation Δθc, a value obtained by adding a value obtained by multiplying the estimated actual angle deviation Δθe by the internal division rate Ke of the estimated actual angle deviation and a value obtained by multiplying the detected angle deviation Δθd by the internal division rate Kd of the detected angle deviation, as shown in the following expression.

Δθc＝Ke×Δθe+Kd×Δθd

Ke+Kd＝1、0≤Ke≤1、0≤Kd≤1 ···(8)

Here, the internal fraction Ke of the estimated actual angle deviation is a proportion Ke of the estimated actual angle deviation Δθe among the control angle deviations Δθc, and the internal fraction Kd of the detected angle deviation is a proportion Kd of the detected angle deviation Δθd among the control angle deviations Δθc. The internal division rate Ke of the estimated actual angle deviation and the internal division rate Kd of the detected angle deviation are respectively set in the range of 0 to 1 so that the total value of the internal division rate Ke of the estimated actual angle deviation and the internal division rate Kd of the detected angle deviation is 1.

Becomes kd=1-Ke. Thus, (Δθc- Δθe): (Δθd- Δθc) =ke: (1-Ke), the control angle deviation Δθc is obtained by dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd into Ke: (1-Ke).

< change in internal Rate according to physical quantity of speed proportion >

Fig. 7 shows an example of setting of the internal division ratios Ke and Kd according to the present embodiment. In the present embodiment, the detected value ωd of the rotational angular velocity is used as the velocity proportional physical quantity. When the detected value ωd of the rotational angular velocity is higher than the preset velocity threshold Th, the control angle calculation unit 32 makes the internal division rate Ke of the estimated actual angular deviation higher than the internal division rate Kd of the detected angular deviation, and when the detected value ωd of the rotational angular velocity is lower than the velocity threshold Th, the control angle calculation unit 32 makes the internal division rate Ke of the estimated actual angular deviation lower than the internal division rate Kd of the detected angular deviation. That is, when the detected value ωd of the rotational angular velocity is higher than the velocity threshold Th, the control angle calculating unit 32 sets the internal division rate Ke of the estimated actual angular deviation to be higher than 0.5 and sets the internal division rate Kd of the detected angular deviation to be lower than 0.5. When the detected value ωd of the rotational angular velocity is lower than the velocity threshold Th, the control angle calculating unit 32 sets the internal division rate Ke of the estimated actual angular deviation to be lower than 0.5 and sets the internal division rate Kd of the detected angular deviation to be higher than 0.5. In addition, the rotational angular velocity ωc for control may be used instead of the detected value ωd of the rotational angular velocity.

As the detected value ωd of the rotational angular velocity increases within a range of a predetermined velocity proportional physical quantity (in this example, a range called a rotational angular velocity range, hereinafter called a substitution angular velocity range) including the velocity threshold Th, the control angle calculating unit 32 continuously increases the internal division rate Ke of the estimated actual angular deviation and continuously decreases the internal division rate Kd of the detected angular deviation.

The value obtained by subtracting the predetermined value from the speed threshold value Th becomes the lower limit angular velocity ThL of the alternative angular velocity range, the value obtained by adding the predetermined value to the speed threshold value Th becomes the upper limit angular velocity ThH of the alternative angular velocity range, and the alternative angular velocity range becomes the range from the lower limit angular velocity ThL to the upper limit angular velocity ThH. In the example shown in fig. 7, the alternative angular velocity range is set so that the velocity threshold Th becomes the center of the alternative angular velocity range.

According to this configuration, by continuously changing the internal fractions Ke and Kd in the replacement speed range, when there is a difference between the estimated actual angle deviation Δθe and the detected angle deviation Δθd, the control angle deviation Δθc can be suppressed from rapidly changing, the rotation angle θc for control can be rapidly changed, and the torque can be suppressed from rapidly changing. Therefore, deterioration of the steering feel of the driver can be suppressed. In addition, the internal division rates Ke, kd may be varied stepwise before and after the speed threshold Th.

As the detected value ωd of the rotational angular velocity increases in the alternative angular velocity range including the velocity threshold Th, the control angle calculating unit 32 continuously increases the internal division rate Ke of the estimated actual angular deviation from 0 to 1 and continuously decreases the internal division rate Kd of the detected angular deviation from 1 to 0. The control angle calculation unit 32 sets the internal division rate Ke of the estimated actual angular deviation to 0 when the detected value ωd of the rotational angular velocity is lower than the replacement angular velocity range, and sets the internal division rate Kd of the detected angular deviation to 1 when the detected value ωd of the rotational angular velocity is higher than the replacement angular velocity range, and sets the internal division rate Ke of the estimated actual angular deviation to 1 and sets the internal division rate Kd of the detected angular deviation to 0.

< setting speed threshold Th > corresponding to execution region of Weak magnetic flux control

The speed threshold Th is set corresponding to the rotational angular speed ωbd of the boundary between the execution region of id=0 control or maximum torque current control and the execution region of the weak magnetic flux control. The effect of this setting will be described below.

When the angle error Δθerr exists, the torque error Δterr may be approximately as shown in the following equation.

Even if there is an error, since the angle error Δθerr approaches 0, cos (Δθerr) < sin (Δθerr), and the 1 st item on the right of equation (9) can be ignored. Therefore, when the absolute value of the d-axis current Id becomes large, the torque error Δterr becomes large. As described above, in the flux weakening control, the d-axis current command value Ido increases in the negative direction as compared with the d-axis current command value calculated by the id=0 control or the maximum torque current control. Therefore, in the execution region of the flux-weakening control, the absolute value of the d-axis current Id becomes large, and when the angle error Δθerr is present, the torque error Δterr becomes large. As described above, by setting the speed threshold Th, the rotation angle θc for control is calculated such that the internal division ratio Ke of the estimated actual angle deviation becomes high and the estimated actual angle deviation Δθe becomes small in the execution region of the weak magnetic flux control, and therefore, the deviation of the rotation angle θc for control from the actual rotation angle (the estimated actual angle deviation Δθe) becomes small and the angle error Δθerr becomes small. As described using the equation (6), the actual rotation angle is the rotation angle at which the voltage equation is established, and the torque error Δterr of the equation (9) is derived based on the voltage equation, so that the torque error Δterr can be reduced by calculating the rotation angle θc for control so that the estimated actual angle deviation Δθe is reduced. Since the calculation accuracy of the estimated actual angle deviation Δθe of the equation (6) increases when the induced voltage increases, the accuracy of the decrease in the angle error Δθerr can be improved by increasing the internal fraction Ke of the estimated actual angle deviation in the region where the induced voltage for performing the flux-weakening control increases.

In the present embodiment, when the detected value ωd of the rotational angular velocity is greater than the lower limit angular velocity ThL of the alternative angular velocity range, it is estimated that the actual angular deviation Δθe is reflected in the calculation of the rotational angle θc for control. Therefore, the speed threshold Th and the alternative angular velocity range may be set such that the rotational angular velocity ωbd of the boundary between the execution region of id=0 control or maximum torque current control and the execution region of weak magnetic flux control is equal to or greater than the lower limit angular velocity ThL of the alternative angular velocity range. For example, the speed threshold Th may be set to coincide with the rotational angular speed ωbd of the boundary. Alternatively, the speed threshold Th and the alternative angular velocity range may be set so that the rotational angular velocity ωbd of the boundary is included in the alternative angular velocity range. As shown in fig. 5, in the case of a rotating electrical machine of the embedded magnet type, since the rotational angular velocity ωbd of the boundary varies according to the torque, the velocity threshold Th and the replacement angular velocity range may also vary according to the torque.

Alternatively, in the magnet-embedded rotating electrical machine, even in the maximum torque current control, the d-axis current becomes a value smaller than 0, and therefore, the speed threshold Th and the replacement angular velocity range may be set in the execution region of the maximum torque current control.

The rotational angular velocity ωc for control may be used as the velocity proportional physical quantity. Physical quantities other than the rotation angular velocity may also be used as the velocity proportional physical quantity. For example, the induced voltage generated in the winding is proportional to the rotational angular velocity, and the applied voltage of the winding is proportional to the induced voltage. As the speed proportional physical quantity, the magnitude of the voltage vector of the d-axis and q-axis voltage command values Vdo, vqo or the sum of the square of Vdo and the square of Vqo may be used.

In addition, when the dc voltage Vdc is lower than the voltage threshold value, the control angle calculation unit 32 may fix the internal division rate Ke of the estimated actual angle deviation to 0 and the internal division rate Kd of the detected angle deviation to 1 so that the estimated actual angle deviation Δθe is not reflected in the control angle deviation Δθc. This is because, as the dc voltage Vdc decreases, the base speed decreases, and the flux weakening control is performed from a lower rotation speed, but at a low rotation speed, the induced voltage is lower, and the estimation accuracy of the estimated actual angle deviation Δθe of the equation (6) decreases.

< calculation of control rotation Angle θc based on control Angle deviation Δθc >

As described above, the control angle calculating unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby calculating the control rotation angle θc. In the present embodiment, the control angle calculating unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby changing the control rotational angular velocity ωc, and integrates the control rotational angular velocity ωc to calculate the control rotational angle θc.

According to this configuration, the rotational angular velocity ωc for control is changed by feedback control, so that it is not necessary to directly change the rotational angle θc for control by feedback control, nor to increase the response frequency of feedback control to the rotational frequency. Therefore, the response frequency of the feedback control can be set to be lower than the rotation frequency, and the response frequency of the feedback control can be set according to the vibration frequency of the mechanical rotation angle speed.

For example, the control angle calculating unit 32 performs feedback control for changing the control rotational angular velocity ωc so that the control angle deviation Δθc approaches 0 by PI control as shown in the following equation.

ωc＝Kc×(1+1/(Tc×s))×Δθc ···(10)

Where Kc is the proportional gain, tc is the integration time constant, and s is the laplace operator. In addition, various feedback controls such as PID control may be used in addition to PI control.

< response frequency from Δθc to θc >

The transfer function G from the control angle deviation Δθc to the rotation angle θc for control is as follows.

G(s)＝θc/Δθc＝Kc×(1+1/(Tc×s))/s

···(11)

As is clear from fig. 9 of non-patent document 1 (chestnut weight, etc., "steering torque reduction control method of electric power steering", japanese society of mechanical society, publication (C), 68 volume 675), the steering speed of the steering vibrates at about 35Hz (since 0.1s is about 3.5 cycles in fig. 9). Thus, the actual speed variation of the steering can occur at such a degree of frequency. Therefore, the response from the control angle deviation Δθc to the rotation angle θc for control needs to be 35Hz or more, and there is room for preferably 90 to 100Hz which is about 3 times, more preferably 175Hz or more which is 5 times. The vibration frequency of the rotational angular velocity corresponds to the resonance frequency of the mechanical power transmission mechanism coupled to the rotation shaft of the rotor.

Here, if the transfer function G of the expression (11) is represented in the baud diagram, fig. 8 is obtained. Where tc=5/Kc is set. According to this figure, the transfer function G is 0dB at ω=kc [ rad/s ], and the cut-off frequency is the characteristic of the 1 st order low-pass filter of the proportional gain Kc [ rad/s ]. Here, the basis for the 1 st order low pass filter is that it is-20 dB/dec around 0 dB.

Therefore, for the response from the control angle deviation Δθc to the rotation angle θc for control, if the input angular frequency ω is equal to or smaller than the proportional gain Kc, θc responds so that Δθc=0, and if the input angular frequency ω exceeds Kc, θc can no longer follow the fluctuation of Δθc.

Therefore, the response from the control angle deviation Δθc to the rotation angle θc for control needs to be 35Hz or more, meaning that the proportional gain Kc needs to be 2pi×35[ rad/s ] or more. In order to make the response about 3 times 90 to 100Hz, the proportional gain Kc is required to be 2 pi×90 to 2 pi×100 rad/s, and in order to make the response 5 times 175Hz or more, the proportional gain Kc is required to be 2 pi×175 rad/s or more. As described above, the ratio gain Kc is at least about 2πX35 [ rad/s ], and about 3 times of about 2πX90 to 2πX100 [ rad/s ], more preferably about 2πX175 [ rad/s ] or more, is required for the margin.

By setting the proportional gain Kc in this way, the response frequency (cut-off frequency) from the control angle deviation Δθc to the control rotation angle θc can be set to be higher than the frequency of the actual speed variation by 35Hz, and the control rotation angle θc can be made to follow the actual speed variation, and torque variation due to the angle error can be suppressed. On the other hand, the dither component of the control angle deviation Δθc caused by the noise component included in the current detection value or the noise component included in the angle detection value may be cut off, not reflected in the rotation angle θc for control. Therefore, by setting the response frequency (cut-off frequency) from the control angle deviation Δθc to the rotation angle θc for control to a value between 3 times and 5 times the frequency of the actual speed variation (for example, 90Hz or more), the rotation angle θc for control can be made to follow the actual speed variation, and can be less susceptible to the noise component of the current detection value. As a result, torque fluctuations can be reduced, and the rotating electrical machine can be muted.

The response frequency (cut-off frequency) from the control angle deviation Δθc to the rotation angle θc for control is set lower than the rotation frequency corresponding to the speed threshold Th. According to this configuration, in a region where the rotation speed is higher than the speed threshold Th and the internal division Ke of the estimated actual angle deviation Δθe is higher than the internal division Kd of the detected angle deviation Δθd, it is possible to suppress a noise component of the rotation frequency included in the current detection value or the like from being reflected in the rotation angle θc for control.

The response frequency (cut-off frequency) from the control angle deviation Δθc to the rotation angle θc for control is set to be higher than the mechanical resonance frequency (35 Hz in this example) generated in the rotation speed of the rotor. In particular, the response frequency (cut-off frequency) from the control angle deviation Δθc to the rotation angle θc for control may be set between 3 times and 5 times the mechanical resonance frequency (35 Hz in this example) generated in the rotation speed of the rotor. According to this configuration, the rotation angle θc for control can be made to follow the fluctuation of the mechanical rotation angular velocity, and can be less susceptible to the influence of the high-frequency noise component.

On the other hand, in the technique of patent document 1, as described above, the feedback controller that calculates Δω1c requires follow-up performance of the frequency up to the maximum rotation speed, requires an advanced microcomputer, and is difficult to separate from the noise component of the current detection value contained in Δθdc. On the other hand, in the present application, the response frequency can be set according to the frequency of the actual speed fluctuation lower than the maximum rotation frequency, without requiring the frequency follow-up performance as in patent document 1. Therefore, it is easy to separate from the noise component of the current detection value, and a low-level microcomputer (CPU) can be used.

2. Embodiment 2

The rotary electric machine 1, the power converter 4, and the control device 10 according to embodiment 2 will be described. The same components as those of embodiment 1 are not described. The basic configuration of the rotating electrical machine 1, the power converter 4, and the control device 10 according to the present embodiment is the same as that of embodiment 1, but differs from embodiment 1 in that the upper and lower limits of the rotation angle θc for control are limited. Fig. 9 is a block diagram of the control angle calculating unit 32.

In the present embodiment, the control angle calculating unit 32 calculates the upper limit value θcmax and the lower limit value θcmin of the rotation angle for control based on the detection value θd of the rotation angle. Then, when the rotation angle θc for control is out of the range from the upper limit value θcmax to the lower limit value θcmin, the control angle calculation unit 32 corrects the rotation angle θc for control based on the detection value θd of the rotation angle.

For example, the control angle calculating unit 32 calculates the upper limit value θcmax and the lower limit value θcmin by adding a preset limit angle width Δθlmt to the detected value θd of the rotation angle and subtracting the preset limit angle width Δθlmt from the detected value θd of the rotation angle, as shown in the following expression. The limit angle width Δθlmt is set to, for example, within 90 degrees under the electrical angle.

θcmax＝θd+ΔθImt

θcmin＝θd-ΔθImt ···(12)

The control angle calculating unit 32 limits the rotation angle θc for control by an upper limit value θcmax and a lower limit value θcmin as shown in the following expression.

1) In the case of thetac > thetacmax

θc＝θcmax

2) In the case of thetac < thetacmin. DEG.DEG.DEG.DEG.C (13)

θc＝θcmin

3)θcmin≦θc≦θcmax

θc＝θc

In this way, by restricting the rotation angle θc for control by the upper limit value θcmax and the lower limit value θcmin set based on the detection value θd of the rotation angle, even when an abnormality occurs in the calculated value of the rotation angle θc for control, the rotation angle θc for control can be maintained within an appropriate range, and the performance of the rotating electrical machine can be prevented from being significantly deteriorated.

In addition, the present invention can also be applied to a case where the rotation sensor is multiplexed. For example, in the case of using a rotation sensor of a dual system (for example, a dual system resolver or a dual system MR sensor), the rotation angle detected by the rotation sensor of the normal one system may be used as the detection value θd of the rotation angle.

The rotary electric machine 1 may be a driving force source for various devices other than the electric power steering device 100. For example, the rotary electric machine 1 may be set as a driving force source for wheels.

The stator may be provided with a winding of a plurality of phases other than three (for example, two phases and four phases).

The stator may be provided with a plurality of sets (for example, two sets) of three-phase windings, and each part of the inverter and the control device may be provided corresponding to each set of three-phase windings.

While various exemplary embodiments and examples are described herein, the various features, aspects, and functions described in one or more embodiments are not limited to the application of the particular embodiments, and may be applied to the embodiments alone or in various combinations. Accordingly, numerous modifications not illustrated are considered to be included in the technical scope disclosed in the present specification. For example, the case where at least one component is modified, added, or omitted, and the case where at least one component is extracted and combined with the components of other embodiments is included.

Description of the reference numerals

1. Rotary electric machine

2. Rotation sensor

3. DC power supply

4. Power converter

6. Current sensor

10. Control device for rotating electrical machine

31. Rotation detecting unit

32. Control angle calculation unit

33. Current detecting unit

34. Voltage command value calculation unit

35. Switch control part

100. Electric power steering device

101. Driving force transmission mechanism

102. Steering device

Kd detection of the ratio of angular deviations (internal fraction)

Ke estimates the ratio of the actual angular deviation (internal division ratio)

Th speed threshold

Delta theta c control of angular deviations

Detecting angular deviation Δθd

Δθe presumes actual angular deviation

Rotation angle for θc control

Upper limit value of θcmax

θcmin lower limit value

Detection value of θd rotation angle

Rotational angular velocity for ωc control

And a detection value of ωd rotational angular velocity.

Claims

1. A control device for a rotary electric machine,

the control device for a rotating electrical machine, which controls a rotating electrical machine having a stator provided with a multi-phase winding and a rotor provided with a magnet via a power converter, is characterized by comprising:

In the above-described control angle calculating section,

2. A control device for a rotary electric machine according to claim 1, wherein,

the control angle calculation unit continuously increases the proportion of the estimated actual angle deviation and continuously decreases the proportion of the detected angle deviation as the speed proportion physical quantity increases within a range of the speed proportion physical quantity including the speed threshold value which is set in advance.

3. A control device for a rotary electric machine according to claim 1, wherein,

as the speed proportional physical quantity increases within a range of the speed proportional physical quantity set in advance including the speed threshold value, the control angle calculating section continuously increases the proportion of the estimated actual angle deviation from 0 to 1 and continuously decreases the proportion of the detected angle deviation from 1 to 0,

in the case where the speed proportional physical quantity is lower than the range of the speed proportional physical quantity, the proportion of the estimated actual angle deviation is set to 0, and the proportion of the detected angle deviation is set to 1,

in the case where the speed proportion physical quantity is higher than the range of the speed proportion physical quantity, the proportion of the estimated actual angle deviation is set to 1, and the proportion of the detected angle deviation is set to 0.

4. A control device for a rotary electric machine according to any one of claim 1 to 3,

the speed threshold is set corresponding to the speed proportional physical quantity of the boundary between the execution region of id=0 control or maximum torque current control and the execution region of weak magnetic flux control.

5. The control device for a rotary electric machine according to any one of claims 1 to 4, characterized in that,

the control angle calculation unit performs feedback control such that the control angle deviation approaches 0 to change the rotational angular velocity for control of the rotor, and integrates the rotational angular velocity for control to calculate the rotational angle for control.

6. The control device for a rotary electric machine according to claim 5, wherein,

the voltage command value calculation unit converts the current detection values of the multi-phase winding into current detection values of d-axis and q-axis based on the rotation angle for control, and changes the voltage command values of the d-axis and q-axis so that the current detection values of the d-axis and q-axis are close to the current command values of the d-axis and q-axis, respectively, and converts the voltage command values of the d-axis and q-axis into the voltage command values of the multi-phase based on the rotation angle for control, with the direction of the rotation angle for control being the d-axis and the direction of the rotation angle for control being the q-axis, which is the direction of the rotation angle for control being 90 degrees forward from the d-axis,

The control angle calculation unit estimates the estimated actual angle deviation, which is a deviation of the control rotation angle with respect to the actual rotation angle of the rotor, based on the current detection values of the d-axis and the q-axis, the voltage command values of the d-axis and the q-axis, and the control rotation angular velocity.

7. A control device for a rotary electric machine according to any one of claims 1 to 6,

the control angle calculating unit calculates an upper limit value and a lower limit value of the control rotation angle based on the detected value of the rotation angle,

when the rotation angle for control is out of the range from the upper limit value to the lower limit value, the rotation angle for control is corrected based on the detected value of the rotation angle.

8. The control device for a rotary electric machine according to any one of claims 1 to 7, characterized in that,

the response frequency from the control angle deviation to the control rotation angle is set to be lower than the rotation frequency corresponding to the speed threshold.

9. The control device for a rotary electric machine according to any one of claims 1 to 8, characterized in that,

The response frequency from the control angle deviation to the control rotation angle is set to be higher than the mechanical resonance frequency generated in the rotation angular velocity of the rotor.

10. The control device for a rotary electric machine according to any one of claims 1 to 9, characterized in that,

the response frequency from the control angle deviation to the control rotation angle is set to be between 3 times and 5 times the mechanical resonance frequency generated in the rotation angular velocity of the rotor.

11. An electric power steering apparatus, comprising:

the control device of a rotating electrical machine according to any one of claims 1 to 8;

the power converter;

the rotating electrical machine; and